#!/usr/bin/env python3
#
# Copyright 2019 ROBOTIS CO., LTD.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# Authors: Darby Lim

import os

import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description():
    pkg_share = launch_ros.substitutions.FindPackageShare(package='turtlebot3_description').find('turtlebot3_description')

    TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] = 'waffle'

    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
    urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf'

    default_rviz_config_path = os.path.join(pkg_share, 'rviz/model.rviz')
    print('default_rviz_config_path: {}'.format(default_rviz_config_path))

    urdf = os.path.join(
        pkg_share,
        'urdf',
        urdf_file_name)
    print('urdf_file_path : {}'.format(urdf))

    return LaunchDescription([
        DeclareLaunchArgument(
            'use_sim_time',
            default_value='false',
            description='Use simulation (Gazebo) clock if true'),

        Node(
            package='robot_state_publisher',
            executable='robot_state_publisher',
            name='robot_state_publisher',
            output='screen',
            parameters=[{'use_sim_time': use_sim_time}],
            arguments=[urdf]),

        # Node(
        #     package='rviz2',
        #     executable='rviz2',
        #     name='rviz2',
        #     # output='screen',
        #     arguments=['-d', default_rviz_config_path],
        # ),
    ])
